Robotics 101: An Introduction to Industrial Robots and Their Configurations - Prof. Mohide, Schemes and Mind Maps of Robotics

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Introduction to Robotics

A common view : Robots as

Humanoids

We will be studying Industrial manipulator

type Robots.

Agenda

• Introduction to Robotics

• Classification of Robots

• Robot accessories

• Robot coordinates

• Work volumes and Reference Frames

• Robot Programming

• Robot Applications in Lean Mfg.

Robot Classification

The following is the classification of Robots according to the

Robotics Institute of America

• (^) Variable-Sequence Robot : A device that performs the

successive stages of a task according to a predetermined

method easy to modify

• (^) Playback Robot :A human operator performs the task

manually by leading the Robot

• (^) Numerical Control Robot : The operator supplies the

movement program rather than teaching it the task

manually.

• (^) Intelligent Robot : A robot with the means to understand its

environment and the ability to successfully complete a task

despite changes to the environment.

ROBOT

• Defined by Robotics Industry Association (RIA)

as

• (^) a re-programmable, multifunctional manipulator

designed to move material, parts, tools or

specialized devices through variable programmed

motion for a variety of tasks

• possess certain anthropomorphic

characteristics

• (^) mechanical arm
• (^) sensors to respond to input
• (^) Intelligence to make decisions

Accessories

• (^) Acutators : Actuators are the muscles of the manipulators. Common types of actuators are servomotors, stepper motors, pneumatic cylinders etc.
• (^) Sensors : Sensors are used to collect information about the internal state of the robot or to communicate with the outside environment. Robots are often equipped with external sensory devices such as a vision system, touch and tactile sensors etc which help to communicate with the environment
• (^) Controller : The controller receives data from the computer, controls the motions of the actuator and coordinates these motions with the sensory feedback information.

Robot Configurations

Some of the commonly used configurations in Robotics are

• (^) Cartesian/Rectangular Gantry(3P) : These Robots are made of 3 Linear joints that orient the end effector, which are usually followed by additional revolute joints.

Robot Configurations (cont’d)

• (^) Cylindrical (R2P): Cylindrical coordinate Robots have 2 prismatic joints and one revolute joint.

Cylindrical Robot - Work

Envelope

Spherical Robot - Work

Envelope

Robot Configurations (cont’d)

• (^) Articulated/anthropomorphic(3R) : An articulated robot’s joints are all revolute, similar to a human’s arm.

Robot Configurations

Reference Frames

• (^) World Reference Frame which is a universal coordinate frame, as defined by the x-y-z axes. In this case the joints of the robot move simultaneously so as to create motions along the three major axes.
• (^) Joint Reference Frame which is used to specify movements of each individual joint of the Robot. In this case each joint may be accessed individually and thus only one joint moves at a time.
• (^) Tool Reference Frame which specifies the movements of the Robots hand relative to the frame attached to the hand. The x’,y’and z’ axes attached to the hand define the motions of the hand relative to this local frame. All joints of the Robot move simultaneously to create coordinated motions about the Tool frame.

Work Envelope concept

• Depending on the configuration and size of the

links and wrist joints, robots can reach a

collection of points called a Workspace.

• Alternately Workspace may be found empirically,

by moving each joint through its range of

motions and combining all space it can reach

and subtracting what space it cannot reach

Pure Spherical Jointed Arm - Work envelope